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Actuators
Special Issues
Actuation and Sensing of Intelligent Soft Robots
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Actuation and Sensing of Intelligent Soft Robots

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Robotics".

Deadline for manuscript submissions: 30 November 2025 | Viewed by 1398

Special Issue Editor

Prof. Dr. Guanbin Gao

E-Mail Website
Guest Editor
Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China
Interests: kinematic calibration and error compensation of industrial robots; human–robot interaction (HRI); rehabilitation robotics; bio-inspired robotic design

Special Issue Information

Dear Colleagues,

The field of intelligent soft robotics has experienced significant growth due to its potential to revolutionize applications in healthcare, industrial automation, wearable devices, and environmental exploration. Soft robots, characterized by their compliance, adaptability, and safe interaction with humans and unstructured environments, require innovative actuation and sensing technologies to achieve precise control, high responsiveness, and functional versatility.

This Special Issue aims to provide a platform for the latest research and developments in soft actuation mechanisms (such as pneumatic, hydraulic, electroactive polymers, and shape memory alloys) and advanced sensing technologies (including flexible sensors, bio-inspired systems, embedded devices, and sensor fusion techniques). We are particularly interested in studies addressing the challenges of integrating actuation and sensing systems, enhancing the autonomy of soft robots, and improving modeling, control, and real-time feedback in dynamic environments.

We welcome original research articles, reviews, and case studies covering theoretical advancements, experimental studies, novel designs, and practical applications of intelligent soft robotics. Contributions that bridge the gap between fundamental research and real-world applications are especially encouraged.

This Special Issue will serve as a valuable platform for researchers and practitioners working at the intersection of robotics, material science, control systems, and artificial intelligence.

Prof. Dr. Guanbin Gao
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • intelligent soft robots
  • soft actuation mechanisms
  • flexible and embedded sensors
  • bio-inspired robotics
  • sensor fusion and data integration
  • soft robotic control and modeling
  • human–robot interaction (HRI)
  • shape memory alloys and electroactive polymers
  • pneumatic and hydraulic actuators
  • wearable robotics and assistive devices

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (2 papers)

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Research

23 pages, 4668 KiB  
Article
Dynamic Modeling and Analysis of Industrial Robots for Enhanced Manufacturing Precision
by Claudius Birk, Martin Kipfmüller and Jan Kotschenreuther
Actuators 2025, 14(7), 311; https://doi.org/10.3390/act14070311 - 24 Jun 2025
Viewed by 368
Abstract
This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial acceleration measurements, 360 frequency response functions were recorded along orthogonal measurement paths for [...] Read more.
This study addresses the challenge of accurately modeling the dynamic behavior of industrial robots for precision manufacturing applications. Using a comprehensive experimental approach with modal impulse hammer testing and triaxial acceleration measurements, 360 frequency response functions were recorded along orthogonal measurement paths for a KUKA KR10 robot. Two dynamic models with different parameter dimensions (12-parameter and 24-parameter) were developed in Matlab/Simscape, and their parameters were identified using genetic algorithm optimization. The KUKA KR10 features Harmonic Drives at each joint, whose high transmission ratio and zero backlash characteristics significantly influence rotational dynamics and allow for meaningful static structural measurements. Objective functions based on the Frequency Response Assurance Criterion (FRAC) and Root Mean Square Error (RMSE) metrics were employed, utilizing a frequency-dependent weighting function. The performance of the models was evaluated across different robot configurations and frequency ranges. The 24-parameter model demonstrated significantly superior performance, achieving 70% overall average Global FRAC in the limited frequency range (≤200 Hz) compared to 41% for the 12-parameter model when optimized using a representative subset of 9 measurement points. Both models showed substantially better performance in the limited frequency range than in the full spectrum. This research provides a validated methodology for dynamic characterization of industrial robots and demonstrates that higher-dimensional models, incorporating transverse joint compliance, can accurately represent robot dynamics up to approximately 200 Hz. Future work will investigate nonlinear effects such as torsional stiffness hysteresis, particularly relevant for Harmonic Drive systems. Full article
(This article belongs to the Special Issue Actuation and Sensing of Intelligent Soft Robots)
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16 pages, 5128 KiB  
Article
Enhanced Speed Characteristics of High-Torque-Density BLDC Motor for Robot Applications Using Parallel Open-End Winding Configuration
by Junghwan Park, Handdeut Chang and Chaeeun Hong
Actuators 2025, 14(5), 220; https://doi.org/10.3390/act14050220 - 29 Apr 2025
Viewed by 619
Abstract
High-torque-density motors are essential in humanoid, wearable, and rehabilitation robots due to their ability to minimize gear ratios, improve back-drivability, and support compact joint design. However, their inherently high back-EMF limits speed performance, and safety regulations often constrain supply voltages to below 50 [...] Read more.
High-torque-density motors are essential in humanoid, wearable, and rehabilitation robots due to their ability to minimize gear ratios, improve back-drivability, and support compact joint design. However, their inherently high back-EMF limits speed performance, and safety regulations often constrain supply voltages to below 50 V in human-interactive environments. To overcome these limitations, this study introduces a novel winding strategy called parallel open-end winding (POEW), which combines the benefits of two individual approaches: Parallel Connected Winding (PCW) and Open-End Winding (OEW). PCW reduces phase resistance and inductance, thereby mitigating voltage drop and back-EMF, while OEW eliminates the neutral point, allowing full-phase voltage utilization. Experimental results show that the POEW configuration achieves a 3.5-fold increase in maximum speed compared to the conventional Series-Connected Winding (SCW), without altering the rotor or stator structure. Torque constant measurements confirm that all proposed configurations maintain torque output with minimal variation. Although the motor constant slightly decreases due to the higher current in parallel paths, the significant speed enhancement under low-voltage conditions demonstrates the practicality and effectiveness of POEW for advanced robotic applications requiring both high torque and speed. Full article
(This article belongs to the Special Issue Actuation and Sensing of Intelligent Soft Robots)
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